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GCode & MCode Master List

Discussion in 'Software' started by PACNOR RC AEROSYSTEMS, Mar 11, 2016.

  1. PACNOR RC AEROSYSTEMS

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    SOURCE: http://softsolder.com/2013/03/14/g-code-and-m-code-grand-master-list/




    3D Printer G-Code and M-Code Commands

    27 Feb 2013
    Ed Nisley - KE4ZNU

    V3 - NIST RS274NGC V3- http://www.nist.gov/manuscript-publication-search.cfm?pub_id=823374
    LC - LinuxCNC - http://www.linuxcnc.org/docs/
    RG - ReplicatorG - http://replicat.org/gcodes and /mcodes
    JF - Jetty Firmware - http://replicat.org/mcodes at bottom
    RR - RepRap - http://reprap.org/wiki/G_codes (cross-linked from many G-Code pages)
    MF - Marlin Firmware dialect of RR (via Dan Newman)

    G0 LC Coordinated Straight Motion Rapid
    G0 MF same as G1
    G0 RG Rapid Motion
    G0 RR Rapid move
    G0 V3 rapid positioning
    G1 LC Coordinated Straight Motion Feed Rate
    G1 MF Coordinated Movement X Y Z E
    G1 RG Coordinated Motion
    G1 RR Controlled move
    G1 V3 linear interpolation
    G2 LC Coordinated Helical Motion Feed Rate
    G2 MF CW ARC
    G2 RG Arc - Clockwise
    G2 V3 circular/helical interpolation (clockwise)
    G3 LC Coordinated Helical Motion Feed Rate
    G3 MF CCW ARC
    G3 RG Arc - Counter Clockwise
    G3 V3 circular/helical interpolation (counterclockwise)
    G4 LC Dwell
    G4 MF Dwell S<seconds> or P<milliseconds>
    G4 RG Dwell
    G4 RR Dwell
    G4 V3 dwell
    G5.1 LC Quadratic B-Spline
    G5.2 LC NURBs Block Open
    G5.3 LC NURBs Block Close
    G7 LC Diameter Mode (lathe)
    G8 LC Radius Mode (lathe)
    G10 LC L10 Set Tool Table, Calculated, Workpiece
    G10 LC L11 Set Tool Table, Calculated, Fixture
    G10 LC L1 Set Tool Table Entry
    G10 LC L20 Coordinate System Origin Setting Calculated
    G10 LC L2 Coordinate System Origin Setting
    G10 RG Create Coordinate System Offset from the Absolute one
    G10 RR Head Offset
    G10 V3 coordinate system origin setting
    G17 LC Arc plane XY
    G17 RG Select XY plane (default)
    G17 V3 XY-plane selection
    G17.1 LC Arc plane UV
    G18 LC Arc plane ZX
    G18 RG Select XZ plane (not implemented)
    G18 V3 XZ-plane selection
    G18.1 LC Arc plane WU
    G19 LC Arc plane YZ
    G19 RG Select YX plane (not implemented)
    G19 V3 YZ-plane selection
    G19.1 LC Arc plane VW
    G20 LC Unit of Measure - inch
    G20 RG Inches as units
    G20 RR Set Units to Inches
    G20 V3 inch system selection
    G21 LC Unit of Measure - millimeter
    G21 RG Millimeters as units
    G21 RR Set Units to Millimeters
    G21 V3 millimeter system selection
    G28 LC Go to Predefined Position
    G28 MF Home all Axis
    G28 RG Home given Axes to maximum
    G28 RR Move to Origin
    G28 V3 return to home
    G28.1 LC Store Predefined Position
    G29-G32 RR Bed probing
    G30 LC Go to Predefined Position
    G30 RG Go Home via Intermediate Point (not implemented)
    G30 V3 return to secondary home
    G30.1 LC Store Predefined Position
    G31 RG Single probe (not implemented)
    G32 RG Probe area (not implemented)
    G33 LC Spindle Synchronized Motion
    G33.1 LC Rigid Tapping
    G38.2 LC Probe toward, stop on contact, error
    G38.2 V3 straight probe
    G38.3 LC Probe toward, stop on contact
    G38.4 LC Probe away, stop on release, error
    G38.5 LC Probe away, stop on release
    G40 LC Cancel Cutter Compensation
    G40 V3 cancel cutter radius compensation
    G41 LC Cutter Compensation - left
    G41 V3 start cutter radius compensation left
    G41.1 LC Dynamic Cutter Compensation - left
    G42 LC Cutter Compensation - right
    G42 V3 start cutter radius compensation right
    G42.1 LC Dynamic Cutter Compensation - right
    G43 LC Use Tool Length Offset from Tool Table
    G43 V3 tool length offset (plus)
    G43.1 LC Dynamic Tool Length Offset
    G49 LC Cancel Tool Length Offset
    G49 V3 cancel tool length offset
    G53 LC Motion in Machine Coordinate System
    G53 RG Set absolute coordinate system
    G53 V3 motion in machine coordinate system
    G54-G59 RG Use coordinate system from G10 P0-5
    G54 LC Select Coordinate System 1
    G54 V3 use preset work coordinate system 1
    G55 LC Select Coordinate System 2
    G55 V3 use preset work coordinate system 2
    G56 LC Select Coordinate System 3
    G56 V3 use preset work coordinate system 3
    G57 LC Select Coordinate System 4
    G57 V3 use preset work coordinate system 4
    G58 LC Select Coordinate System 5
    G58 V3 use preset work coordinate system 5
    G59 LC Select Coordinate System 6
    G59 V3 use preset work coordinate system 6
    G59.1 LC Select Coordinate System 7
    G59.1 V3 use preset work coordinate system 7
    G59.2 LC Select Coordinate System 8
    G59.2 V3 use preset work coordinate system 8
    G59.3 LC Select Coordinate System 9
    G59.3 V3 use preset work coordinate system 9
    G61 LC Path Control Mode - exact path
    G61 V3 set path control mode: exact path
    G61.1 LC Path Control Mode - exact stop (same as G61)
    G61.1 V3 set path control mode: exact stop
    G64 LC Path Control Mode - Optional Tolerance
    G64 V3 set path control mode: continuous
    G73 LC Drilling Cycle with Chip Breaking
    G76 LC Multi-pass Threading Cycle (Lathe)
    G80 LC Cancel Motion Modes
    G80 V3 cancel motion mode (including any canned cycle)
    G81 LC Drilling Cycle
    G81 V3 canned cycle: drilling
    G82 LC Drilling Cycle with Dwell
    G82 V3 canned cycle: drilling with dwell
    G83 LC Drilling Cycle with Peck
    G83 V3 canned cycle: peck drilling
    G84 V3 canned cycle: right hand tapping
    G85 LC Boring Cycle, No Dwell, Feed Out
    G85 V3 canned cycle: boring, no dwell, feed out
    G86 LC Boring Cycle, Stop, Rapid Out
    G86 V3 canned cycle: boring, spindle stop, rapid out
    G87 V3 canned cycle: back boring
    G88 V3 canned cycle: boring, spindle stop, manual out
    G89 LC Boring Cycle, Dwell, Feed Out
    G89 V3 canned cycle: boring, dwell, feed out
    G90 LC G91 Distance Mode
    G90 MF Use Absolute Coordinates
    G90 RG Absolute Positioning
    G90 RR Set to Absolute Positioning
    G90 V3 absolute distance mode
    G90.1 LC Arc Distance Mode - absolute IJK
    G91 MF Use Relative Coordinates
    G91 RG Relative Positioning
    G91 RR Set to Relative Positioning
    G91 V3 incremental distance mode
    G91.1 LC Arc Distance Mode - incremental IJK
    G92.1 V3 cancel offset coordinate systems and set parameters to zero
    G92 LC Coordinate System Offset
    G92 MF Set current position to cordinates given
    G92 RG Define current position on axes
    G92 RR Set Position
    G92 V3 offset coordinate systems and set parameters
    G92.1 LC Cancel Coordinate System Offsets
    G92.2 LC Cancel Coordinate System Offsets
    G92.2 V3 cancel offset coordinate systems but do not reset parameters
    G92.3 LC Restore Axis Offsets
    G92.3 V3 apply parameters to offset coordinate systems
    G93 LC Feed Mode - Inverse time
    G93 V3 inverse time feed rate mode
    G94 LC Feed Mode - Units per minute
    G94 RG Feed rate mode (not implemented)
    G94 V3 units per minute feed rate mode
    G95 LC Feed Mode - Units per revolution
    G96 LC Constant Surface Speed
    G97 LC RPM Mode
    G97 RG Spindle speed rate
    G98 LC Canned Cycle Z Retract Mode
    G98 V3 initial level return in canned cycles
    G99 LC Canned Cycle Z Retract Mode
    G99 V3 R-point level return in canned cycles
    G161 RG Home negative
    G162 RG Home positive
     
  2. PACNOR RC AEROSYSTEMS

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    MCodes:



    M0 LC Program Pause
    M0 RG Unconditional Halt (not supported on SD)
    M0 RR Stop
    M0 V3 program stop
    M1 LC Program Pause - optional
    M1 RG Optional Halt (not supported on SD)
    M1 RR Sleep
    M1 V3 optional program stop
    M2 LC Program End
    M2 RG End program
    M2 V3 program end
    M3 LC Spindle Control - clockwise ON
    M3 RG spindle on, CW
    M3 RR Spindle On, Clockwise (CNC specific)
    M3 V3 turn spindle clockwise
    M4 LC Spindle Control - counterclockwise ON
    M4 RG spindle on, CCW
    M4 RR Spindle On, Counter-Clockwise (CNC specific)
    M4 V3 turn spindle counterclockwise
    M5 LC Spindle Control - OFF
    M5 RG spindle off
    M5 RR Spindle Off (CNC specific)
    M5 V3 stop spindle turning
    M6 LC Tool Change
    M6 RG Tool change. This code waits until the toolhead is ready before proceeding. This is often used to wait for a toolhead to reach the its set temperature before beginning a print. ReplicatorG also supports giving a timeout with M6 P<secs>.
    M6 V3 tool change
    M7 LC Coolant Control - mist ON
    M7 RG coolant A on (flood coolant)
    M7 RR Mist Coolant On (CNC specific)
    M7 V3 mist coolant on
    M8 LC Coolant Control - flood ON
    M8 RG cooland B on (mist coolant)
    M8 RR Flood Coolant On (CNC specific)
    M8 V3 flood coolant on
    M9 LC Coolant Control - OFF
    M9 RG all coolants off
    M9 RR Coolant Off (CNC specific)
    M9 V3 mist and flood coolant off
    M10 RG close clamp
    M10 RR Vacuum On (CNC specific)
    M11 RG open clamp
    M11 RR Vacuum Off (CNC specific)
    M13 RG spindle CW and coolant A on
    M14 RG spindle CCW and coolant A on
    M17 MF Enable/Power all stepper motors
    M17 RG enable motor(s)
    M17 RR Enable/Power all stepper motors
    M18 MF Disable all stepper motors; same as M84
    M18 RG disable motor(s)
    M18 RR Disable all stepper motors
    M20 MF List SD card
    M20 RR List SD card
    M21 MF Init SD card
    M21 RG open collet
    M21 RR Initialize SD card
    M22 MF Release SD card
    M22 RG close collet
    M22 RR Release SD card
    M23 MF Select SD file (M23 filename.g)
    M23 RR Select SD file
    M24 MF Start/resume SD print
    M24 RR Start/resume SD print
    M25 MF Pause SD print
    M25 RR Pause SD print
    M26 MF Set SD position in bytes (M26 S12345)
    M26 RR Set SD position
    M27 MF Report SD print status
    M27 RR Report SD print status
    M28 MF Start SD write (M28 filename.g)
    M28 RR Begin write to SD card
    M29 MF Stop SD write
    M29 RR Stop writing to SD card
    M30 LC Program End - exchange pallet shuttles
    M30 MF Delete file from SD (M30 filename.g)
    M30 RG program rewind
    M30 RR Delete a file on the SD card
    M30 V3 program end, pallet shuttle, and reset
    M31 MF Output time since last M109 or SD card start to serial
    M40-M46 RG change gear ratio (0 - 6)
    M40 RR Eject
    M41 RR Loop
    M42 MF Change pin status via gcode
    M42 RR Stop on material exhausted / Switch I/O pin
    M43 RR Stand by on material exhausted
    M48 LC Feed & Spindle Overrides - Enable
    M48 V3 enable speed and feed overrides
    M49 LC Feed & Spindle Overrides - Disable
    M49 V3 disable speed and feed overrides
    M50 LC Feed Override Control
    M50 RG read spindle speed
    M51 LC Spindle Override Control
    M52 LC Adaptive Feed Control
    M53 LC Feed Stop Control
    M60 LC Pallet Change Pause
    M60 V3 pallet shuttle and program stop
    M61 LC Set Current Tool Number
    M62 LC Output Control - synchronized ON
    M63 LC Output Control - synchronized OFF
    M64 LC Output Control - immediate ON
    M65 LC Output Control - immediate OFF
    M66 LC Input Control - wait
    M67 LC Analog Output Control - synchronized
    M68 LC Analog Output Control - immediate
    M70 RG Display message on machine, with optional timeout specified by P-code in seconds
    M71 RG Pause activity and display message, resuming build on button push. Optional timeout specified by P-code in seconds. If timeout is specified and no button is pushed, machine should shut down or reset.
    M72 RG Play a song or tone defined by the machine, by a P-code specifying a song type. Default songs are Error Sound (P0), a Ta-da sound (P1), and a warning sound (P2). all other sounds are user or machine specific, with P2 the default for unknown sounds.
    M73 RG Manually set build percentage. Valid P values are 0 to 100, values over 100 are rounded down to 100
    M80 MF Turn on Power Supply
    M80 RR ATX Power On
    M81 MF Turn off Power Supply
    M81 RR ATX Power Off
    M82 MF Set E codes absolute (default)
    M82 RR set extruder to absolute mode
    M83 MF Set E codes relative while in Absolute Coordinates (G90) mode
    M83 RR set extruder to relative mode
    M84 MF Disable steppers until next move, or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
    M84 RR Stop idle hold
    M85 MF Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
    M92 MF Set axis_steps_per_unit - same syntax as G92
    M92 RR Set axis_steps_per_unit
    M98 RR Get axis_hysteresis_mm
    M99 RR Set axis_hysteresis_mm
    M100 LC through M199 User Defined M codes
    M101 RR Extruder on, fwd
    M101 RR Turn extruder 1 on Forward / Undo Extruder Retraction
    M102 RR Extruder on, reverse
    M102 RR Turn extruder 1 on Reverse
    M103 RR Extruder off
    M103 RR Turn all extruders off / Extruder Retraction
    M104 MF Set extruder target temp
    M104 RR Set Extruder Temperature
    M104 RR Snn set temperature in degrees Celsius
    M105 MF Read current temp
    M105 RR get extruder temperature
    M105 RR Get Extruder Temperature
    M106 MF Fan on
    M106 RR Fan On
    M106 RR turn fan on
    M107 MF Fan off
    M107 RR Fan Off
    M107 RR turn fan off
    M108 RR Set Extruder's Max Speed (Rnnn = RPM, Pnnn = PWM)
    M108 RR Set Extruder Speed
    M109 MF Wait for extruder current temp to reach target temp.
    M109 RR Set Extruder Temperature and Wait
    M109 RR Snnn set build platform temperature in degrees Celsuis
    M110 RR Set Current Line Number
    M110 RR Snnn set chamber temperature in degrees Celsius
    M111 RR Set Debug Level
    M112 RR Emergency Stop
    M113 RR Set Extruder PWM
    M114 MF Display current position
    M114 MF Output current position to serial port
    M114 RR Get Current Position
    M115 MF Capabilities string
    M115 RR Get Firmware Version and Capabilities
    M116 RR Wait
    M117 MF display message
    M117 RR Get Zero Position
    M118 RR Negotiate Features
    M119 MF Output Endstop status to serial port
    M119 RR Get Endstop Status
    M120 RR M121, M122 Snnn set the PID gain for the temperature regulator (not currently supported by ReplicatorG)
    M123 RR M124 Snnn set iMax and iMin windup guard for the PID controller (not currently supported by ReplicatorG)
    M126 JF use acceleration for subsequent instructions
    M126 RG valve open (acceleration on for subsequent instructions in the Jetty Firmware)
    M126 RR Open Valve
    M127 JF disable acceleration for subsequent instructions
    M127 RG valve close (acceleration off for subsequent instructions in the Jetty Firmware)
    M127 RR Close Valve
    M128 RR Extruder Pressure PWM
    M128 RR get position
    M129 RR Extruder pressure off
    M129 RR get range (not currently supported by ReplicatorG)
    M130 RR Set PID P value
    M130 RR set range (not currently supported by ReplicatorG)
    M131 RR Set PID I value
    M132 RR Set PID D value
    M133 RR Set PID I limit value
    M134 RR Write PID values to EEPROM
    M136 RR Print PID settings to host
    M140 MF Set bed target temp
    M140 RR Bed Temperature (Fast)
    M141 RR Chamber Temperature (Fast)
    M142 RR Holding Pressure
    M143 RR Maximum hot-end temperature
    M160 RR Number of mixed materials
    M190 MF Wait for bed current temp to reach target temp.
    M190 RR Wait for bed temperature to reach target temp
    M200 JF reset (to pick up changes)
    M200 MF Set filament diameter
    M200 RR reset driver
    M200 RR Set filament diameter / Get Endstop Status
    M201 JF set maximum rates of acceleration/deceleration
    M201 MF Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
    M201 RR Set max printing acceleration
    M202 MF Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
    M202 RR clear buffer (not currently supported by ReplicatorG)
    M202 RR Set max travel acceleration
    M203 JF set maximum feed rates
    M203 MF Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
    M203 RR Set maximum feedrate
    M204 JF set default rates of acceleration
    M204 MF Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
    M204 RR Set default acceleration
    M205 JF set minimum feed rates and planner speed
    M205 MF advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
    M205 RR advanced settings
    M206 JF set extruded noodle diameter, extruder maximum reverse feed rate, extruder deprime, slowdown limit, and direction of extruder feed
    M206 MF set additional homeing offset
    M206 RR set home offset
    M207 JF set JKN Advance parameters K and K2
    M207 RR calibrate z axis by detecting z max length
    M208 JF set extruder steps per millimeter
    M208 RR set axis max travel
    M209 JF turn acceleration planner on or off; enable or disable override of gcode temperature settings
    M209 RR enable automatic retract
    M215 JF set steps per millimeter for each axis
    M216 JF set maximum speed changes for each axis
    M220 MF S<factor in percent> set speed factor override percentage
    M220 RR Set speed factor override percentage
    M221 MF S<factor in percent> set extrude factor override percentage
    M221 RR set extrude factor override percentage
    M226 RR Gcode Initiated Pause
    M227 RR Enable Automatic Reverse and Prime
    M228 RR Disable Automatic Reverse and Prime
    M229 RR Enable Automatic Reverse and Prime
    M230 RR Disable / Enable Wait for Temperature Change
    M240 MF Trigger a camera to take a photograph
    M240 RR Start conveyor belt motor / Echo off
    M241 RR Stop conveyor belt motor / echo on
    M245 RR Start cooler
    M246 RR Stop cooler
    M300 RR Play beep sound
    M300 RR Snnn set servo 1 position
    M301 MF Set PID parameters P I and D
    M301 RR Set PID parameters - Hot End
    M301 RR Snnn set servo 2 position
    M302 MF Allow cold extrudes
    M303 MF PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
    M304 RR Set PID parameters - Bed
    M310 RG (filepath) logging
    M311 RG stop logging
    M312 RG (message) log message
    M320 RG acceleration on for subsequent instructions
    M321 RG acceleration off for subsequent instructions
    M400 MF Finish all moves
    M420 RR Set RGB Colors as PWM
    M500 MF stores paramters in EEPROM
    M500 RR stores paramters in EEPROM
    M501 MF reads parameters from EEPROM (if you need reset them after you changed them temporarily).
    M501 RR reads parameters from EEPROM
    M502 MF reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
    M502 RR reverts to the default "factory settings".
    M503 MF print the current settings (from memory not from eeprom)
    M503 RR Print settings
    M999 MF Restart after being stopped by error
     
    robert sanchez likes this.
  3. WheresWaldo

    WheresWaldo Volunteer ( ͠° ͟ʖ ͡°)
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    Don't get too excited about this list, it is not current and not all codes are implemented on all firmwares. Here is another outdated list that tells you which firmware implements which codes http://reprap.org/wiki/G-code.

    Please note that NIST, who oversees gcode does not have any influence on how it is used by 3D printer manufacturers. 3D printers use of gcode only has a passing resemblance to how gcode is used in CNC machines and process control. This combined list also ignores the fact that most of these command must have parameters passed to them in order to work.
     
    mark tomlinson likes this.
  4. mark tomlinson

    mark tomlinson ༼ つ ◕_ ◕ ༽つ
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    Yes, it is a lot like printing a list of numbers to explain/define math.

    It is handy to know what all is potentially available, but you need to dig into marlin to know what the Robo implements.
     
  5. Rigmarol

    Rigmarol Well-Known Member

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    I want my Robo to push the build plate out forward instead of going to the back. Is there a Gcode to do this with?
    I use Cura v. 4 as my slicer.

    Thanks
     
  6. mark tomlinson

    mark tomlinson ༼ つ ◕_ ◕ ༽つ
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    http://marlinfw.org/docs/gcode/G000-G001.html

    put in whatever coordinates you wan it to go to.
    You probably want to flip to RELATIVE first.

    http://marlinfw.org/docs/gcode/G091.html

    so a G91 and then the G0 or G1 with parameters to where you want it to end up.

    ("forward" and "back" don't mean much since we do not know if the "front" of your printer is X=0, Y=0 or if that is the "back")

    Probably end it with a G90 since most slicers expect the printer to be in absolute positioning mode too.

    http://marlinfw.org/docs/gcode/G090.html
     
    Rigmarol likes this.
  7. Rigmarol

    Rigmarol Well-Known Member

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    Thank you.
    I will give it a try.
    Its a small thing but having the finished print come out to be seen instead if going to the back seems much nicer.
    Thanks again.

    Sent from my LGMP260 using Tapatalk
     
    Geof likes this.
  8. WheresWaldo

    WheresWaldo Volunteer ( ͠° ͟ʖ ͡°)
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    What I did with my R1 at the end of a print is to move X to 0 the move Y to 230 then move Z to about 10 higher that would move the head out of the way and 'present' the print for removal. The Gcode might look like this:

    Code:
    M106 S0 ; turn off fan
    M104 S0 ; turn off heaters
    G91 ; set relative mode
    G1 Z10 ; moves Z 10 mm higher than last position
    G90 ; set absolute mode
    G1 X0 ; move extruder to the left
    G1 Y230 ; move bed forward
    M84 ; turn off motors
    M400 ; wait until all commands are executed
    M117 Printer done ; display message on LCD
    
     
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  9. mark tomlinson

    mark tomlinson ༼ つ ◕_ ◕ ༽つ
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    I so wanted to do that, but chickened out on the chance that at some point I would be too high :)
    So I just move the X and Y
     
    Rigmarol likes this.
  10. WheresWaldo

    WheresWaldo Volunteer ( ͠° ͟ʖ ͡°)
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    Yeah on my R2 I just move to absolute 250 mm which is the max mine will go.
     
    Rigmarol likes this.
  11. Rigmarol

    Rigmarol Well-Known Member

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    Thanks guys I added the following and it did exactly what I wanted:

    ;
    ;Move Bed out when done
    G91:Relative Positioning
    G0 Y250
     
    mark tomlinson likes this.
  12. WheresWaldo

    WheresWaldo Volunteer ( ͠° ͟ʖ ͡°)
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    @Rigmarol be careful with Relative versus Absolute, relative positioning will move it whatever you ask in addition to where it is at the end of the print, so in your example above, lets say the print ends at Y200 and you add Y250 relative to where you are, it will try to move to Y450 which doesn't exist on an R1 printer. So usually for X and Y moves you want to use absolute positioning so it goes exactly where you tell it to. Use relative positioning to move Z because you simply don't know where the print will stop and you need to move the head up and out of the way.
     

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